joint.h

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#ifndef JOINTH
#define JOINTH

#include "interval.h"
#include "link.h"
#include "boolean.h"
#include "cuiksystem.h"
#include "color.h"
#include "htransform.h"
#include "eqvector.h"

#include <stdlib.h>


/************************************************************************************/
#define NO_JOINT NO_UINT

#define FREE_JOINT 0

#define FIX_JOINT 1

#define REV_JOINT  2

#define UNV_JOINT  3

#define SPH_JOINT  4

#define SPH_SPH_LOW_JOINT  5

#define SPH_SPH_UP_JOINT  6

#define REV_LOW_JOINT  7

#define REV_UP_JOINT  8

#define PRS_JOINT  9

#define IN_PATCH_JOINT  10


/************************************************************************************/

typedef struct {
  unsigned int t; 
  unsigned int id; 
  unsigned int linkID[2]; 
  Tlink *link[2]; 
  double points[6][3]; 
  double normals[3][3]; 
  Tinterval normRange; 
  boolean hasLimits;   
  void *coupled;       
  boolean avoidLimits; 
  double avoidLimitsWeight; 
  Tinterval range;  
  Tinterval range2; 
  double offset; 
  double offset2; 
  double vrange[2][3]; 
  THTransform preT; 
  THTransform postT; 
  double maxCoord;   
} Tjoint;

void NewFreeJoint(unsigned int id,
                  unsigned int linkID1,Tlink *link1,
                  unsigned int linkID2,Tlink *link2,
                  Tjoint *j);

void NewFixJoint(unsigned int id,
                 unsigned int linkID1,Tlink *link1,
                 unsigned int linkID2,Tlink *link2,
                 THTransform *t,
                 Tjoint *j);
void NewRevoluteJoint(unsigned int id,unsigned int r,
                      unsigned int linkID1,Tlink *link1,
                      unsigned int linkID2,Tlink *link2,
                      double **points,
                      boolean hasLimits,Tinterval *range,double **rPoints,
                      boolean avoidLimits,double avoidLimitsWeight,
                      Tjoint *coupled,
                      Tjoint *j);
void NewUniversalJoint(unsigned int id,unsigned int r,
                       unsigned int linkID1,Tlink *link1,
                       unsigned int linkID2,Tlink *link2,
                       double **points,
                       boolean hasLimits,Tinterval *range1,Tinterval *range2,double **rPoints,
                       boolean avoidLimits,double avoidLimitsWeight,
                       Tjoint *j);

void NewSphericalJoint(unsigned int id,
                       unsigned int linkID1,Tlink *link1,
                       unsigned int linkID2,Tlink *link2,
                       double **points,
                       boolean hasLimits,double range,double **rPoints,
                       boolean avoidLimits,double avoidLimitsWeight,
                       Tjoint *j);

void NewPrismaticJoint(unsigned int id,
                       unsigned int linkID1,Tlink *link1,
                       unsigned int linkID2,Tlink *link2,
                       double **points,
                       Tinterval *range,
                       boolean avoidLimits,double avoidLimitsWeight,
                       Tjoint *j);
void NewSphSphLowJoint(unsigned int id,
                       unsigned int linkID1,Tlink *link1,
                       unsigned int linkID2,Tlink *link2,
                       double **points,
                       Tjoint *j);
void NewSphSphUpJoint(unsigned int id,
                      unsigned int linkID1,Tlink *link1,
                      unsigned int linkID2,Tlink *link2,
                      double **points,
                      Tjoint *j);

void NewRevLowJoint(unsigned int id,
                    unsigned int linkID1,Tlink *link1,
                    unsigned int linkID2,Tlink *link2,
                    double **points,
                    Tjoint *j);

void NewRevUpJoint(unsigned int id,
                   unsigned int linkID1,Tlink *link1,
                   unsigned int linkID2,Tlink *link2,
                   double **points,
                   Tjoint *j);

void NewSphPrsSphLowJoint(unsigned int id,
                          unsigned int linkID1,Tlink *link1,
                          unsigned int linkID2,Tlink *link2,
                          double **points,
                          Tjoint *j);

void NewSphPrsSphUpJoint(unsigned int id,
                         unsigned int linkID1,Tlink *link1,
                         unsigned int linkID2,Tlink *link2,
                         double **points,
                         Tjoint *j);

void NewInPatchJoint(unsigned int id,
                     unsigned int linkID1,Tlink *link1,
                     unsigned int linkID2,Tlink *link2,
                     double **points,
                     double **patch,
                     boolean avoidLimits,double avoidLimitsWeight,
                     Tjoint *j);

void CopyJoint(Tjoint *j_dst,Tjoint *j_src);

unsigned int GetJointType(Tjoint *j);

double GetJointMaxCoordinate(Tjoint *j);


unsigned int GetJointID(Tjoint *j);

unsigned int JointFromID(Tjoint *j);

Tlink *JointFrom(Tjoint *j);

unsigned int JointToID(Tjoint *j);


Tlink *JointTo(Tjoint *j);

void GetJointName(char **name,Tjoint *j);

void GetJointDOFName(unsigned int ndof,char **name,Tjoint *j);

void GetJointPoint(unsigned int link,unsigned int point,double *p,Tjoint *j);


boolean LimitedJoint(Tjoint *j);


Tinterval *GetJointRange(Tjoint *j);

Tinterval *GetJointSecondRange(Tjoint *j);


void GetJointRangeN(unsigned int nr,double mt,Tinterval *r,Tjoint *j);

unsigned int GetJointRangeTopology(unsigned int nr,Tjoint *j);

unsigned int CoupledWith(Tjoint *j);

unsigned int GetJointDOF(Tjoint *j);

void GenerateJointRangeSingularityEquations(Tparameters *p,TCuikSystem *cs,Tjoint *j);

void GenerateJointRangeEquations(Tparameters *p,TCuikSystem *cs,Tjoint *j);


void GenerateJointEquationsInBranch(Tparameters *p,double s,TCuikSystem *cs,
                                    Tequation *eq,Tjoint *j);

void JointForceEquation(Tparameters *pr,unsigned int linkID,TCuikSystem *cs,
                        Tequation *eq,Tjoint *j);

void GenerateJointEquations(Tparameters *p,double maxCoord,
                            TCuikSystem *cs,Tjoint *j);

void RegenerateJointSolution(Tparameters *p,TCuikSystem *cs,double *sol,Tjoint *j);

void RegenerateJointBox(Tparameters *p,TCuikSystem *cs,Tbox *b,Tjoint *j);

void GenerateJointSolution(Tparameters *p,double *dof,
                           THTransform *t1,THTransform *t2,
                           TCuikSystem *cs,double *sol,Tjoint *j);


void GetJointTransform(double *dof,THTransform *t,Tjoint *j);

void GetJointDOFValues(Tparameters *p,THTransform *t1,THTransform *t2,double *dof,
                       Tjoint *j);


void GetJointTransSeq(Tparameters *p,TCuikSystem *cs,TTransSeq *ts,Tjoint *j);


void PrintJointAxes(Tparameters *p,FILE *f,TCuikSystem *cs,double *sol,
                    double *r,Tjoint *j);

void PrintJoint(FILE *f,Tjoint *j);

void DeleteJoint(Tjoint *j);

#endif